海遊旅人　遊行編

;">

はじめに

ちょいメモ

用語

pi@navio-rpi ~/ardupilot/APMrover2 $ make navio
Checking modules
// BUILDROOT=/tmp/APMrover2.build HAL_BOARD=HAL_BOARD_LINUX HAL_BOARD_SUBTYPE=HAL_BOARD_SUBTYPE_LINUX_NAVIO TOOLCHAIN=RPI EXTRAFLAGS=-DGIT_VERSION="f66d5f7a"
echo "Generating MAVLink headers..."
Generating MAVLink headers...
#goto mavlink module directory and run the most recent generator script
echo "Generating C code using mavgen.py located at" /home/pi/ardupilot/modules/mavlink/
Generating C code using mavgen.py located at /home/pi/ardupilot/modules/mavlink/
PYTHONPATH=/home/pi/ardupilot/modules/mavlink/ python /home/pi/ardupilot/modules/mavlink//pymavlink/tools/mavgen.py --lang=C --wire-protocol=1.0 --output=/tmp/APMrover2.build/libraries/GCS_MAVLink/include/mavlink/v1.0 /home/pi/ardupilot/modules/mavlink//message_definitions/v1.0/ardupilotmega.xml
Validating /home/pi/ardupilot/modules/mavlink//message_definitions/v1.0/ardupilotmega.xml
Parsing /home/pi/ardupilot/modules/mavlink//message_definitions/v1.0/ardupilotmega.xml
Note: message DATA64 is longer than 64 bytes long (74 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message DATA96 is longer than 64 bytes long (106 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message REMOTE_LOG_DATA_BLOCK is longer than 64 bytes long (214 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Validating /home/pi/ardupilot/modules/mavlink//message_definitions/v1.0/common.xml
Parsing /home/pi/ardupilot/modules/mavlink//message_definitions/v1.0/common.xml
Note: message GPS_STATUS is longer than 64 bytes long (109 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message ATTITUDE_QUATERNION_COV is longer than 64 bytes long (76 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message GLOBAL_POSITION_INT_COV is longer than 64 bytes long (193 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message LOCAL_POSITION_NED_COV is longer than 64 bytes long (237 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message HIGHRES_IMU is longer than 64 bytes long (70 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message HIL_SENSOR is longer than 64 bytes long (72 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message SIM_STATE is longer than 64 bytes long (92 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message FILE_TRANSFER_PROTOCOL is longer than 64 bytes long (262 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message HIL_STATE_QUATERNION is longer than 64 bytes long (72 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message LOG_DATA is longer than 64 bytes long (105 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message GPS_INJECT_DATA is longer than 64 bytes long (121 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message SERIAL_CONTROL is longer than 64 bytes long (87 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message ENCAPSULATED_DATA is longer than 64 bytes long (263 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message RESOURCE_REQUEST is longer than 64 bytes long (251 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message CONTROL_SYSTEM_STATE is longer than 64 bytes long (108 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message AUTOPILOT_VERSION is longer than 64 bytes long (68 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Note: message V2_EXTENSION is longer than 64 bytes long (262 bytes), which can cause fragmentation since many radio modems use 64 bytes as maximum air transfer unit.
Merged enum MAV_CMD
Found 176 MAVLink message types in 2 XML files
Generating C implementation in directory /tmp/APMrover2.build/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega
Generating C implementation in directory /tmp/APMrover2.build/libraries/GCS_MAVLink/include/mavlink/v1.0/common

Copying fixed headers
%% Parameters.o
%% control_modes.o
%% events.o
%% setup.o
%% commands_logic.o
%% sensors.o
%% Rover.o
%% failsafe.o
%% commands_process.o
%% GCS_Mavlink.o
%% Log.o
%% navigation.o
%% system.o
%% radio.o
%% commands.o
%% Steering.o
%% capabilities.o
%% test.o
%% APMrover2.o
%% compat.o
%% libraries/AP_Common/AP_Common.o
%% libraries/AP_Common/c++.o
%% libraries/AP_Menu/AP_Menu.o
%% libraries/AP_Param/AP_Param.o
%% libraries/StorageManager/StorageManager.o
%% libraries/AP_GPS/AP_GPS_SBF.o
%% libraries/AP_GPS/AP_GPS_UBLOX.o
%% libraries/AP_GPS/AP_GPS_ERB.o
%% libraries/AP_GPS/AP_GPS_NMEA.o
%% libraries/AP_GPS/GPS_Backend.o
%% libraries/AP_GPS/AP_GPS_SIRF.o
%% libraries/AP_GPS/AP_GPS_SBP.o
%% libraries/AP_GPS/AP_GPS.o
%% libraries/AP_GPS/AP_GPS_GSOF.o
%% libraries/AP_GPS/AP_GPS_MTK19.o
%% libraries/AP_GPS/AP_GPS_QURT.o
%% libraries/AP_GPS/AP_GPS_MTK.o
%% libraries/AP_GPS/AP_GPS_PX4.o
%% libraries/AP_ADC/AP_ADC.o
%% libraries/AP_ADC/AP_ADC_ADS1115.o
%% libraries/AP_ADC/AP_ADC_ADS7844.o
%% libraries/AP_Baro/AP_Baro.o
%% libraries/AP_Baro/AP_Baro_qflight.o
%% libraries/AP_Baro/AP_Baro_HIL.o
%% libraries/AP_Baro/AP_Baro_PX4.o
%% libraries/AP_Baro/AP_Baro_MS5611.o
%% libraries/AP_Baro/AP_Baro_QURT.o
%% libraries/AP_Baro/AP_Baro_Backend.o
%% libraries/AP_Baro/AP_Baro_BMP085.o
%% libraries/AP_Compass/AP_Compass_Calibration.o
%% libraries/AP_Compass/Compass_learn.o
%% libraries/AP_Compass/AP_Compass_HIL.o
%% libraries/AP_Compass/AP_Compass_qflight.o
%% libraries/AP_Compass/AP_Compass_HMC5843.o
%% libraries/AP_Compass/AP_Compass_PX4.o
%% libraries/AP_Compass/AP_Compass_QURT.o
%% libraries/AP_Compass/AP_Compass_Backend.o
%% libraries/AP_Compass/Compass.o
%% libraries/AP_Compass/CompassCalibrator.o
%% libraries/AP_Compass/AP_Compass_AK8963.o
%% libraries/AP_Compass/AP_Compass_LSM303D.o
%% libraries/AP_Math/quaternion.o
%% libraries/AP_Math/vector2.o
%% libraries/AP_Math/polygon.o
%% libraries/AP_Math/matrix3.o
%% libraries/AP_Math/matrix_alg.o
%% libraries/AP_Math/edc.o
%% libraries/AP_Math/AP_Math.o
%% libraries/AP_Math/vector3.o
%% libraries/AP_Math/location.o
%% libraries/AP_InertialSensor/AP_InertialSensor_QURT.o
%% libraries/AP_InertialSensor/AuxiliaryBus.o
%% libraries/AP_InertialSensor/AP_InertialSensor_Backend.o
%% libraries/AP_InertialSensor/AP_InertialSensor_HIL.o
%% libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.o
%% libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.o
%% libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_Stream.o
%% libraries/AP_InertialSensor/AP_InertialSensor_SITL.o
%% libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.o
%% libraries/AP_InertialSensor/AP_InertialSensor.o
%% libraries/AP_InertialSensor/AP_InertialSensor_qflight.o
%% libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.o
%% libraries/AP_InertialSensor/AP_InertialSensor_UserInteract_MAVLink.o
%% libraries/AP_InertialSensor/AP_InertialSensor_LSM9DS0.o
%% libraries/AP_InertialSensor/AP_InertialSensor_PX4.o
%% libraries/AP_AccelCal/AccelCalibrator.o
%% libraries/AP_AccelCal/AP_AccelCal.o
%% libraries/AP_AHRS/AP_AHRS_DCM.o
%% libraries/AP_AHRS/AP_AHRS.o
%% libraries/AP_AHRS/AP_AHRS_NavEKF.o
%% libraries/AP_NavEKF/AP_NavEKF.o
%% libraries/AP_NavEKF/AP_NavEKF_core.o
%% libraries/AP_NavEKF2/AP_NavEKF2_Outputs.o
%% libraries/AP_NavEKF2/AP_NavEKF2_Measurements.o
%% libraries/AP_NavEKF2/AP_NavEKF2.o
%% libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.o
%% libraries/AP_NavEKF2/AP_NavEKF2_core.o
%% libraries/AP_NavEKF2/AP_NavEKF_GyroBias.o
%% libraries/AP_NavEKF2/AP_NavEKF2_MagFusion.o
%% libraries/AP_NavEKF2/AP_NavEKF2_VehicleStatus.o
%% libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.o
%% libraries/AP_NavEKF2/AP_NavEKF2_AirDataFusion.o
%% libraries/AP_NavEKF2/AP_NavEKF2_Control.o
%% libraries/AP_Mission/AP_Mission.o
%% libraries/AP_Rally/AP_Rally.o
%% libraries/AP_Terrain/TerrainIO.o
%% libraries/AP_Terrain/TerrainMission.o
%% libraries/AP_Terrain/TerrainGCS.o
%% libraries/AP_Terrain/AP_Terrain.o
%% libraries/AP_Terrain/TerrainUtil.o
%% libraries/PID/PID.o
%% libraries/RC_Channel/RC_Channel.o
%% libraries/RC_Channel/RC_Channel_aux.o
%% libraries/AP_RangeFinder/RangeFinder.o
%% libraries/AP_RangeFinder/AP_RangeFinder_PX4_PWM.o
%% libraries/AP_RangeFinder/AP_RangeFinder_LightWareI2C.o
%% libraries/AP_RangeFinder/AP_RangeFinder_PulsedLightLRF.o
%% libraries/AP_RangeFinder/AP_RangeFinder_analog.o
%% libraries/AP_RangeFinder/RangeFinder_Backend.o
%% libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.o
%% libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.o
%% libraries/AP_RangeFinder/AP_RangeFinder_LightWareSerial.o
%% libraries/AP_RangeFinder/AP_RangeFinder_PX4.o
%% libraries/Filter/LowPassFilter.o
%% libraries/Filter/LowPassFilter2p.o
%% libraries/Filter/DerivativeFilter.o
%% libraries/AP_Relay/AP_Relay.o
%% libraries/AP_ServoRelayEvents/AP_ServoRelayEvents.o
%% libraries/AP_Mount/AP_Mount_Backend.o
%% libraries/AP_Mount/SoloGimbalEKF.o
%% libraries/AP_Mount/AP_Mount_Alexmos.o
%% libraries/AP_Mount/AP_Mount_SToRM32.o
%% libraries/AP_Mount/AP_Mount.o
%% libraries/AP_Mount/SoloGimbal.o
%% libraries/AP_Mount/SoloGimbal_Parameters.o
%% libraries/AP_Mount/AP_Mount_SoloGimbal.o
%% libraries/AP_Mount/AP_Mount_Servo.o
%% libraries/AP_Mount/AP_Mount_SToRM32_serial.o
%% libraries/AP_Camera/AP_Camera.o
%% libraries/GCS_MAVLink/GCS_Common.o
%% libraries/GCS_MAVLink/GCS_serial_control.o
%% libraries/GCS_MAVLink/GCS_MAVLink.o
%% libraries/GCS_MAVLink/GCS_Logs.o
%% libraries/GCS_MAVLink/MAVLink_routing.o
%% libraries/AP_SerialManager/AP_SerialManager.o
%% libraries/AP_Airspeed/AP_Airspeed_I2C.o
%% libraries/AP_Airspeed/Airspeed_Calibration.o
%% libraries/AP_Airspeed/AP_Airspeed_analog.o
%% libraries/AP_Airspeed/AP_Airspeed.o
%% libraries/AP_Airspeed/AP_Airspeed_PX4.o
%% libraries/DataFlash/LogFile.o
%% libraries/DataFlash/DataFlash_SITL.o
%% libraries/DataFlash/DFMessageWriter.o
%% libraries/DataFlash/DataFlash.o
%% libraries/DataFlash/DataFlash_Block.o
%% libraries/DataFlash/DataFlash_MAVLink.o
%% libraries/DataFlash/DataFlash_Backend.o
%% libraries/DataFlash/DataFlash_File.o
%% libraries/AP_RCMapper/AP_RCMapper.o
%% libraries/AP_Scheduler/AP_Scheduler.o
%% libraries/APM_Control/AP_AutoTune.o
%% libraries/APM_Control/AP_SteerController.o
%% libraries/APM_Control/AP_YawController.o
%% libraries/APM_Control/AP_RollController.o
%% libraries/APM_Control/AP_PitchController.o
%% libraries/AP_L1_Control/AP_L1_Control.o
%% libraries/AP_BoardConfig/AP_BoardConfig.o
%% libraries/AP_Frsky_Telem/AP_Frsky_Telem.o
%% libraries/AP_Notify/Display_SSD1306_I2C.o
%% libraries/AP_Notify/ToneAlarm_PX4.o
%% libraries/AP_Notify/ExternalLED.o
%% libraries/AP_Notify/ToshibaLED.o
%% libraries/AP_Notify/NavioLED.o
%% libraries/AP_Notify/OreoLED_PX4.o
%% libraries/AP_Notify/ToneAlarm_Linux.o
%% libraries/AP_Notify/Buzzer.o
%% libraries/AP_Notify/Display.o
%% libraries/AP_Notify/AP_BoardLED.o
%% libraries/AP_Notify/DiscreteRGBLed.o
%% libraries/AP_Notify/ToshibaLED_PX4.o
%% libraries/AP_Notify/VRBoard_LED.o
%% libraries/AP_Notify/AP_Notify.o
%% libraries/AP_Notify/RGBLed.o
%% libraries/AP_Notify/ToshibaLED_I2C.o
%% libraries/AP_Notify/RCOutputRGBLed.o
%% libraries/AP_Notify/NavioLED_I2C.o
%% libraries/AP_BattMonitor/AP_BattMonitor_Backend.o
%% libraries/AP_BattMonitor/AP_BattMonitor_Bebop.o
%% libraries/AP_BattMonitor/AP_BattMonitor_SMBus_I2C.o
%% libraries/AP_BattMonitor/AP_BattMonitor_Analog.o
%% libraries/AP_BattMonitor/AP_BattMonitor.o
%% libraries/AP_BattMonitor/AP_BattMonitor_SMBus_PX4.o
%% libraries/AP_OpticalFlow/AP_OpticalFlow_HIL.o
%% libraries/AP_OpticalFlow/AP_OpticalFlow_Linux.o
%% libraries/AP_OpticalFlow/AP_OpticalFlow_PX4.o
%% libraries/AP_OpticalFlow/OpticalFlow_backend.o
%% libraries/AP_OpticalFlow/OpticalFlow.o
%% libraries/AP_OpticalFlow/AP_OpticalFlow_Onboard.o
%% libraries/AP_RSSI/AP_RSSI.o
%% libraries/AP_Declination/AP_Declination.o
%% libraries/AP_RPM/RPM_Backend.o
%% libraries/AP_RPM/RPM_PX4_PWM.o
%% libraries/AP_RPM/AP_RPM.o
%% libraries/AP_RPM/RPM_SITL.o
%% libraries/AP_Arming/AP_Arming.o
%% libraries/AP_HAL/UARTDriver.o
%% libraries/AP_HAL/HAL.o
%% libraries/AP_HAL/Util.o
%% libraries/AP_HAL_Empty/GPIO.o
%% libraries/AP_HAL_Empty/Semaphores.o
%% libraries/AP_HAL_Empty/UARTDriver.o
%% libraries/AP_HAL_Empty/Storage.o
%% libraries/AP_HAL_Empty/PrivateMember.o
%% libraries/AP_HAL_Empty/I2CDriver.o
%% libraries/AP_HAL_Empty/SPIDriver.o
%% libraries/AP_HAL_Empty/RCOutput.o
%% libraries/AP_HAL_Empty/Scheduler.o
%% libraries/AP_HAL_Empty/AnalogIn.o
%% libraries/AP_HAL_Empty/RCInput.o
%% libraries/AP_HAL_Empty/HAL_Empty_Class.o
%% libraries/AP_HAL_Linux/I2CDevice.o
%% libraries/AP_HAL_Linux/SPIDevice.o
%% libraries/AP_HAL_Linux/AnalogIn.o
%% libraries/AP_HAL_Linux/GPIO.o
%% libraries/AP_HAL_Linux/RCOutput_Bebop.o
%% libraries/AP_HAL_Linux/CameraSensor_Mt9v117.o
%% libraries/AP_HAL_Linux/RCOutput_Sysfs.o
%% libraries/AP_HAL_Linux/CameraSensor.o
%% libraries/AP_HAL_Linux/RCOutput_AioPRU.o
%% libraries/AP_HAL_Linux/Storage.o
%% libraries/AP_HAL_Linux/RCInput_PRU.o
%% libraries/AP_HAL_Linux/RCOutput_PCA9685.o
%% libraries/AP_HAL_Linux/I2CDriver.o
%% libraries/AP_HAL_Linux/SPIUARTDriver.o
%% libraries/AP_HAL_Linux/RCOutput_ZYNQ.o
%% libraries/AP_HAL_Linux/Util_RPI.o
%% libraries/AP_HAL_Linux/RCInput_RPI.o
%% libraries/AP_HAL_Linux/OpticalFlow_Onboard.o
%% libraries/AP_HAL_Linux/GPIO_RPI.o
%% libraries/AP_HAL_Linux/Perf.o
%% libraries/AP_HAL_Linux/RCOutput_Raspilot.o
%% libraries/AP_HAL_Linux/GPIO_Bebop.o
%% libraries/AP_HAL_Linux/Perf_Lttng.o
%% libraries/AP_HAL_Linux/UDPDevice.o
%% libraries/AP_HAL_Linux/RCInput_AioPRU.o
%% libraries/AP_HAL_Linux/GPIO_Sysfs.o
%% libraries/AP_HAL_Linux/AnalogIn_Navio2.o
%% libraries/AP_HAL_Linux/Storage_FRAM.o
%% libraries/AP_HAL_Linux/RCInput_ZYNQ.o
%% libraries/AP_HAL_Linux/AnalogIn_Raspilot.o
%% libraries/AP_HAL_Linux/RCInput_Navio2.o
%% libraries/AP_HAL_Linux/RPIOUARTDriver.o
%% libraries/AP_HAL_Linux/RCInput_Raspilot.o
%% libraries/AP_HAL_Linux/AnalogIn_ADS1115.o
%% libraries/AP_HAL_Linux/GPIO_Minnow.o
%% libraries/AP_HAL_Linux/RCInput_UDP.o
%% libraries/AP_HAL_Linux/HAL_Linux_Class.o
%% libraries/AP_HAL_Linux/Semaphores.o
%% libraries/AP_HAL_Linux/Thread.o
%% libraries/AP_HAL_Linux/UARTQFlight.o
%% libraries/AP_HAL_Linux/sbus.o
%% libraries/AP_HAL_Linux/TCPServerDevice.o
%% libraries/AP_HAL_Linux/UARTDriver.o
%% libraries/AP_HAL_Linux/PWM_Sysfs.o
%% libraries/AP_HAL_Linux/ConsoleDevice.o
%% libraries/AP_HAL_Linux/VideoIn.o
%% libraries/AP_HAL_Linux/CameraSensor_Mt9v117_Patches.o
%% libraries/AP_HAL_Linux/SPIDriver.o
%% libraries/AP_HAL_Linux/RCOutput_qflight.o
%% libraries/AP_HAL_Linux/Scheduler.o
%% libraries/AP_HAL_Linux/GPIO_BBB.o
%% libraries/AP_HAL_Linux/system.o
%% libraries/AP_HAL_Linux/UARTDevice.o
%% libraries/AP_HAL_Linux/RCInput_UART.o
%% libraries/AP_HAL_Linux/RCOutput_PRU.o
%% libraries/AP_HAL_Linux/Flow_PX4.o
%% libraries/AP_HAL_Linux/RCInput_DSM.o
%% libraries/AP_HAL_Linux/AnalogIn_IIO.o
%% libraries/AP_HAL_Linux/ToneAlarmDriver.o
%% libraries/AP_HAL_Linux/Heat_Pwm.o
%% libraries/AP_HAL_Linux/Util.o
%% libraries/AP_HAL_Linux/RCInput.o
%% libraries/AP_HAL/utility/Socket.o
%% libraries/AP_HAL/utility/utoa_invert.o
%% libraries/AP_HAL/utility/dsm.o
%% libraries/AP_HAL/utility/Print.o
%% libraries/AP_HAL/utility/print_vprintf.o
%% libraries/AP_HAL/utility/RingBuffer.o
%% libraries/AP_HAL/utility/getopt_cpp.o
%% libraries/AP_HAL/utility/ftoa_engine.o
Building /tmp/APMrover2.build/APMrover2.elf
%% APMrover2.elf
Firmware is in APMrover2.elf

1.4 用語解説

はじめに

ちょいメモ

用語

prerequisites

git, tmux, docker , Nvidia card
apt-get install tmux docker.io git
docker と tmux に精通のこと
通常ユーザーとしてドッカーを使用可能にしておくこと

setup

まずは、Easy startページを

Easy start
Dockerインストール確認

docker version
docker images

tmux and git

apt-get install tmux git

clone & build

git clone https://github.com/orig74/DroneSimLab.git
cd DroneSimLab

Unreal Engine 4エディタの有無には2つの選択肢があります： Unreal Engine 4エディタをインストールするには、GitHubアカウントがEpicのゲームアカウントに接続されている必要があります（手順）。 アカウント設定後

./build.py

Unreal Engine 4のインストールをスキップする場合は（後でいつでもインストールできます）。

./build.py --skip_ue4_editor

構築には時間がかかります　・・・ デモ実行

cd demos/px4_gazebo
./runtmux_game_docker.sh

最初の実行もSITLスクリプトで環境を構築するので時間がかかります ctrl-b dを押してtmux環境を終了しデモを終了する

./kill_demo.sh

Setup of the Unreal Engine 4 for the demos　DroneSimLabと通信するためにUnreal Engine 4 Editorでプロジェクトを設定する方法

Unreal Engineをコンパイルするには、Unrealエンジンへのgitアクセスが必要です。
アカウントを開設してください。 
ビルドスクリプトはunrealエンジンのgitリポジトリにアクセスしようとします
Unrealドッカーのイメージを正常に作成したら、イメージを実行する必要があります：
ファイルdockers / unreal_engine_4 / run_image.shのPROJECT_FILES_DIRを更新します。
これは、あなたが未来のエンジンプロジェクトがあるパスです
（このパスがまだ存在しない場合は作成してください）。
./run_image.sh
（非表示のdocker imageは、終了後にコンテナを保持する唯一のimageです）。

The px4_gazebo demo
Prerequisites

関連するドッカー画像を構築する必要があります。
Easy startページ参照のこと

How to run

The simulation window
The drone inner tmux
Running custom ROS code
Setting a new catkin_ws
Setting environment